CN206096446U - Vehicle and obstacle detecting device thereof - Google Patents
Vehicle and obstacle detecting device thereof Download PDFInfo
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- CN206096446U CN206096446U CN201621037769.1U CN201621037769U CN206096446U CN 206096446 U CN206096446 U CN 206096446U CN 201621037769 U CN201621037769 U CN 201621037769U CN 206096446 U CN206096446 U CN 206096446U
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- 238000001514 detection method Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000012372 quality testing Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 2
- 239000012491 analyte Substances 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model provides a vehicle and obstacle detecting device thereof, this obstacle detecting device of installs in the bottom surface at vehicle rear portion, including at least one sensor, this sensor be can the measuring distance the sensor, this obstacle detecting device's sensor has a test range of settlements, this test range has the center and surveys the axle, this center survey spool set to with horizontal datum plane roughly perpendicular. The utility model provides a vehicle and obstacle detecting device thereof only uses a sensor, through detected signal and vehicle self parameter of comparing obstacle detecting device, can detect simply fast and whether appears step, pit on the road surface, goes up downhill path road surface and/or other barriers, simple structure, with low costs.
Description
Technical field
The application is related to a kind of vehicle and its obstacle detector.
Background technology
JP2005231468A discloses a kind of obstacle detector, to sinking on the road surface for detecting vehicle back
Step.The obstacle detector has ultrasonic sensor, sensor support member and motor.During vehicle backing, motor drives
Dynamic sensor support member stretches out rear bumper, so that ultrasonic sensor detects road surface.The existing obstacle detector
The sagging step that the depression or curb of vehicle back are formed, but complex structure can be detected.
Utility model content
One purpose of the application is to provide a kind of vehicle and its obstacle detector, and it can detect the barrier on road surface
Hinder road surface.
For this purpose, according to the one side of the application, there is provided a kind of obstacle detector, installed in the bottom of vehicle rear
Face, including at least one sensor, the sensor can be the sensor of measurement distance, the biography of the obstacle detector
Sensor has the investigative range of a setting, and the investigative range has central detector axle, and the central detector axle is arranged to and water
Flat datum level is substantially vertical.
According to an embodiments possible, the sensor is ultrasonic sensor, laser sensor or infrared ray sensing
Device.
According to further aspect of the application, a kind of vehicle is additionally provided, including control device, alarm device and above
Described obstacle detector, obstacle detector is electrically connected with control device, and control device is electrically connected with alarm device,
Control device starts or closes alarm device according to the detection signal of obstacle detector.
According to an embodiments possible, the obstacle detector be arranged on the rear bumper of vehicle lower surface,
Or the rear end of vehicle chassis lower surface.
According to an embodiments possible, it may include two or more obstacle detectors.
According to an embodiments possible, the height on the chassis of the vehicle is set as H0, from detection of obstacles dress
The sensor starting put is set as H1 along the distance between central detector axle to level road, from sensor starting along central detector
Axle to the actual range between level road is set as H3, and as H3 ≈ H1, control device judges that vehicle is travelled substantially gentle
Road surface；As H3 >=H0+H1, control device judges that rear view of vehicle has obstacle road surface, and the control device controls the report
Alarm device sends alarm signal.
According to an embodiments possible, to send alarm signal, alarm signal is dodged the alarm device using lamp, text
The audible mode such as the visual ways such as word, buzzing, voice and/or vibrations etc. can be in way of feeling one or more realizations.
According to an embodiments possible, the urgency level of the alarm signal of the alarm device by determining apart from d, distance
The value of d is determined that w is represented and sent after alarm signal, the displacement of vehicle rear wheel by w, b and r；B represent the braking of vehicle away from
From；R represents the radius of trailing wheel, works as d>W+b+r, the control device controls the alarm device) continue to send alarm signal.
According to an embodiments possible, the vehicle also includes emergency braking apparatus, electrically connects with the control device,
Work as d<W+b+r, the control device controls the emergency braking apparatus and carries out brake hard.
The vehicle and its obstacle detector of the application, using at least one sensor, by comparing detection of obstacles
The detection signal H3 and vehicle inherent parameters of device, you can quickly and easily detect the dangerous obstacle road surface example occurred on road surface
Such as downward step, pit, descending road surface, simple structure, low cost.
Description of the drawings
Fig. 1 is a kind of vehicle of the embodiments possible according to the application and its structural representation of obstacle detector
Figure.
Fig. 2 is a kind of structural schematic block diagram of the vehicle of the embodiments possible according to the application.
Fig. 3 A and Fig. 3 B are installation of the obstacle detector of Fig. 1 illustrated embodiments according to the application on vehicle
Position view.
Fig. 4 and Fig. 5 are shown according to the vehicle of Fig. 1 illustrated embodiments of the application and its detection of obstacle detector
It is intended to.
Specific embodiment
Fig. 1 is refer to, according to the obstacle detector 10 of the embodiment of the application one bottom at the rear portion of vehicle 1 is arranged on
Face, in present embodiment, such as, installed in rear bumper lower surface, obstacle occur on road surface to detect when vehicle 1 is moveed backward
For example downward step in road surface, pit, descending road surface etc..Obstacle detector 10 includes at least one sensor, sensor
Can be it is any for example can be able to be ultrasonic sensor, laser sensor or infrared ray sensing with the sensor of measurement distance
Device.In present embodiment, sensor is ultrasonic sensor.
The sensor of obstacle detector 10 has the investigative range of a setting, and the investigative range has central detector axle
101, the central detector axle 101 is arranged to substantially vertical with level reference, detect between vehicle rear bottom surface and road surface away from
From.
Fig. 2 is refer to, the application vehicle includes obstacle detector 10, control device 50 and alarm device 60, obstacle
Analyte detection device 10 is electrically connected with control device 50, and control device 50 is electrically connected with alarm device 60.Obstacle detector 10
Its detection signal is transmitted to control device 50, control device 50 according to the detection signal of obstacle detector 10, start or
Close alarm device 60., to send alarm signal, alarm signal is, for example, can square with lamp sudden strain of a muscle, word etc. for alarm device 60
The audible mode such as formula, buzzing, voice and/or vibrations etc. can way of feeling illustrate.Preferably, the alarm device 60 can be existing
The alarm device of radar for backing car.
The obstacle detector 10 may be mounted on the lower surface at the rear portion of vehicle 1, the lower surface of such as rear bumper,
Or the position such as the rear end of vehicle chassis lower surface.
The height of vehicle chassis is set as H0, from sensor starting along central detector axle 101 between level road away from
From being set as that H1, H0 and H1 are vehicle inherent parameters, arranged by vehicle itself and determined.From sensor starting along central detector axle
101 to the actual range between actual road surface is set as H3.As H3 ≈ H1, judge that the road surface of vehicle back is substantially gentle；When
H1<H3<During H0+H1, the relatively low step of dangerous property, pit or downward abrupt slope on the road surface of vehicle back are judged；When H3 >=
During H0+H1, judge that rear view of vehicle has adventurous obstacle road surface such as step, pit or downward abrupt slope etc., continue to travel meeting
Vehicle chassis is scraped, or even makes vehicle chassis contact to earth and built on stilts vehicle rear.
Fig. 3 A are refer to, the application vehicle can only include the obstacle detector 10, installed in the rear portion of vehicle 1
The medium position of lower surface, detection range covers the whole rear of vehicle 1；Fig. 3 B are refer to, alternatively, the application vehicle also may be used
So that including two obstacle detectors 10, the both sides of lower surface after vehicle 1, detection range is covered each by vehicle
The left and right sides at rear；It is appreciated that according to the actual requirements, the application vehicle can also include multiple obstacle detectors
10, interval is arranged on the rear portion of vehicle 1, and detection range is covered each by region of the rear of vehicle 1 corresponding to its installation site, preferably
The distance between ground, adjacent two obstacle detector 10 are roughly equal.
Incorporated by reference to reference to Fig. 4 and Fig. 5, vehicle 1 is moveed backward on road surface 2, and position X3 is driven towards via position X2 from position X1.Road
Face 2 includes first 21 and second 22, sets first 21 general planar, and second 22 is less than first 21, forms downward
Step, pit or downward abrupt slope.Control device 50 is received after the detection signal H3 that the obstacle detector 10 is transmitted, with
H0 set in advance and H1 are compared, so as to judge whether road surface has adventurous obstacle road surface.
When vehicle 1 is moveed backward between position X1 to position X2, sensor only detects first 21 of road surface 2, detection
Signal H3 is sent to control unit 50 and carries out signal processing and compare, and comparative result is H3 ≈ H1；When the reversing setover of vehicle 1
X2 to position X3 travel when, obstacle detector 10 is detected and first 21 formation second 22 of difference in height, from obstacle
Actual range H3 of the sensor starting of analyte detection device 10 between second 22 of central detector axle 101 to road surface significantly increases
Greatly, if the comparative result of control unit 50 is H3 >=H0+H1, show road surface second 22 is the adventurous obstacle road of tool
For example downward step in face, pit or downward abrupt slope, the value of H3 is bigger, represents that degree of danger is higher.The basis of control device 50
The detection signal of obstacle detector 10, starts alarm device 60, and warning driver vehicle rear has adventurous obstacle road
Face.
Alternatively, the warning urgency level of alarm device 60 can be by determining apart from d, and the value apart from d is determined by w, b and r
It is fixed, wherein, w is represented and sent after alarm signal, the displacement of vehicle rear wheel, the value of w can using wheel speed sensors or other
Mode is obtained；B represents braking distance of the vehicle under current speed per hour；R represents the radius of trailing wheel.If d>W+b+r, then continue to send out
Go out alarm signal.D is less, represents that degree of danger is higher, and alarm signal is more urgent.
Alternatively, the application vehicle can include emergency braking apparatus 70, the emergency braking apparatus 70 and control device 50
Electrical connection.As d=w+b-r, then control device 50 starts emergency braking apparatus 70, carries out brake hard intervention, prevents danger
Generation.
The vehicle and its obstacle detector of the application, using at least one sensor, by comparing detection of obstacles
The detection signal H3 and vehicle inherent parameters of device, you can quickly and easily detect the dangerous obstacle road surface example occurred on road surface
Such as downward step, pit, descending road surface, simple structure, low cost.
Although disclosed some embodiments, these embodiments are only given in an illustrative manner, and are not meant to limit
The scope of the present invention processed.It is all that appended claim and its equivalent is intended to be made in the scope of the invention and purport
Modification, replacement and change.
Claims (10)
1. a kind of obstacle detector (10), it is characterised in that：Installed in the bottom surface at vehicle (1) rear portion, including at least one
Sensor, the sensor can be the sensor of measurement distance, and the sensor of the obstacle detector (10) has one
The investigative range of setting, the investigative range has central detector axle (101), and the central detector axle (101) is arranged to and water
Flat datum level is substantially vertical.
2. obstacle detector (10) as claimed in claim 1, it is characterised in that：The sensor is supersonic sensing
Device, laser sensor or infrared ray sensor.
3. a kind of vehicle (1), it is characterised in that：Including：
Control device (50), alarm device (60) and obstacle detector (10) as claimed in claim 1, obstacle quality testing
Survey device (10) to electrically connect with control device (50), control device (50) is electrically connected with alarm device (60), control device (50)
According to the detection signal of obstacle detector (10), start or close alarm device (60).
4. vehicle (1) as claimed in claim 3, it is characterised in that：The obstacle detector (10) is installed in vehicle
The lower surface of rear bumper or the rear end of vehicle chassis lower surface.
5. vehicle (1) as claimed in claim 4, it is characterised in that：May include two or more obstacle detectors
(10)。
6. vehicle (1) as claimed in claim 3, it is characterised in that：The height on the chassis of the vehicle is set as H0, from described
The sensor starting of obstacle detector (10) is set as H1 along the distance between central detector axle (101) to level road,
It is set as H3 to the actual range between level road along central detector axle (101) from sensor starting, as H3 ≈ H1, control
Device (50) judges that vehicle is travelled on substantially gentle road surface；As H3 >=H0+H1, control device (50) judges that rear view of vehicle has
There is obstacle road surface, the control device (50) controls the alarm device (60) and sends alarm signal.
7. vehicle (1) as claimed in claim 6, it is characterised in that：The alarm device (60) is alert to send alarm signal
Show signal using visual way, audible mode and/or can be in way of feeling one or more realizations.
8. vehicle (1) as claimed in claim 3, it is characterised in that：The urgent journey of the alarm signal of the alarm device (60)
By determining apart from d, the value apart from d is determined degree by w, b and r, and w is represented and sent after alarm signal, the displacement of vehicle rear wheel；
B represents the braking distance of vehicle；R represents the radius of trailing wheel, works as d>W+b+r, the described warning of control device (50) control fills
Put (60) to continue to send alarm signal.
9. vehicle (1) as claimed in claim 8, it is characterised in that：The vehicle also includes emergency braking apparatus (70), with institute
Control device (50) electrical connection is stated, works as d<W+b+r, the control device (50) controls the emergency braking apparatus (70) to be carried out tightly
Anxious braking.
10. vehicle (1) according to claim 7, it is characterised in that：The visual way includes lamp sudden strain of a muscle, word；It is described can
Mode is listened to include buzzing, voice；It is described can way of feeling include vibrations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621037769.1U CN206096446U (en) | 2016-09-05 | 2016-09-05 | Vehicle and obstacle detecting device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621037769.1U CN206096446U (en) | 2016-09-05 | 2016-09-05 | Vehicle and obstacle detecting device thereof |
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| Publication Number | Publication Date |
|---|---|
| CN206096446U true CN206096446U (en) | 2017-04-12 |
Family
ID=58475972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621037769.1U Active CN206096446U (en) | 2016-09-05 | 2016-09-05 | Vehicle and obstacle detecting device thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001345A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Reversing early warning system and its control method based on STM32 microcontrollers |
| CN108919275A (en) * | 2018-05-15 | 2018-11-30 | 浙江吉利控股集团有限公司 | It is a kind of for preventing the radar installations of vehicle backing pitfall |
| CN110422132A (en) * | 2019-07-31 | 2019-11-08 | 南宁学院 | A kind of automobile reversing radar system |
| CN111002900A (en) * | 2018-10-08 | 2020-04-14 | 株式会社万都 | Reverse warning device, method and control system thereof |
| CN113682276A (en) * | 2021-08-25 | 2021-11-23 | 汤恩智能科技(常熟)有限公司 | Cliff detection method and terminal |
| WO2023169668A1 (en) * | 2022-03-09 | 2023-09-14 | Volvo Autonomous Solutions AB | A vehicle and a method |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
-
2016
- 2016-09-05 CN CN201621037769.1U patent/CN206096446U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001345A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Reversing early warning system and its control method based on STM32 microcontrollers |
| CN108919275A (en) * | 2018-05-15 | 2018-11-30 | 浙江吉利控股集团有限公司 | It is a kind of for preventing the radar installations of vehicle backing pitfall |
| CN111002900A (en) * | 2018-10-08 | 2020-04-14 | 株式会社万都 | Reverse warning device, method and control system thereof |
| CN110422132A (en) * | 2019-07-31 | 2019-11-08 | 南宁学院 | A kind of automobile reversing radar system |
| CN113682276A (en) * | 2021-08-25 | 2021-11-23 | 汤恩智能科技(常熟)有限公司 | Cliff detection method and terminal |
| CN113682276B (en) * | 2021-08-25 | 2022-12-13 | 汤恩智能科技(常熟)有限公司 | Cliff detection method and terminal |
| WO2023169668A1 (en) * | 2022-03-09 | 2023-09-14 | Volvo Autonomous Solutions AB | A vehicle and a method |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
| CN117087675B (en) * | 2023-10-10 | 2024-04-12 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
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